Relevant bibliographies by topics / PD Computed Torque Control

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'PD Computed Torque Control'

Author: Grafiati
Published: 4 June 2025
Last updated: 1 August 2025

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Journal articles on the topic "PD Computed Torque Control"

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Rahmani, Mehran, and Ahmad Ghanbari. "Computed Torque Control of a Caterpillar Robot Manipulator Using Neural Network." Advanced Engineering Forum 15 (February 2016): 106–18. http://dx.doi.org/10.4028/www.scientific.net/aef.15.106.

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This paper presents a neural computed torque controller, which employs to a Caterpillar robot manipulator. A description to exert a control method application neural network for nonlinear PD computed torque controller to a two sub-mechanisms Caterpillar robot manipulator. A nonlinear PD computed torque controller is obtained via utilizing a popular computed torque controller and using neural networks. The proposed controller has some advantages such as low control effort, high trajectory tracking and learning ability. The joint angles of two sub-mechanisms have been obtained by using the numer
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Meddahi, Y., and K. Zemalache Meguenni. "PD-computed torque control for an autonomous airship." IAES International Journal of Robotics and Automation (IJRA) 8, no. 1 (2019): 44. http://dx.doi.org/10.11591/ijra.v8i1.pp44-51.

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For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an env
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Meddahi, Y., and K. Zemalache Meguenni. "PD-computed torque control for an autonomous airship." IAES International Journal of Robotics and Automation (IJRA) 8, no. 1 (2019): 44–51. https://doi.org/10.11591/ijra.v8i1.pp44-51.

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For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an env
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Meddahi, Youssouf, K. Zemalache Meguenni, and Aoued3 H. "The nonlinear computed torque control of a quadrotor." Indonesian Journal of Electrical Engineering and Computer Science 20, no. 3 (2020): 1221–29. https://doi.org/10.11591/ijeecs.v20.i3.pp1221-1229.

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This paper work focused on the study of the nonlinear computed torque control of a quadrotor helicopter. In order to model the dynamic of the vehicles, kinematics and dynamics modeling of the X4 is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the quadrotor to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation. Results show that Computed Torque control method is suitabl
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Guo, Tong Ying, Jie Jia Li, and Hai Chen Wang. "Research on Grinding Robot for Trajectory Control Based on Computed Torque." Applied Mechanics and Materials 58-60 (June 2011): 2392–95. http://dx.doi.org/10.4028/www.scientific.net/amm.58-60.2392.

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In this paper, in order to achieve high-precision trajectory control of grinding robot, the method of computed torque control is proposed based on PD feedback, a single-joint robot experimental platform was built, position and velocity tracking experiment is carried out with empty Load and load. Experimental results show that the method of computed torque based on PD feedback control has the characteristic of quick response speed and small position tracking error.
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Abdel-Salam, Abdel-Azim S., and Ibrahim N. Jleta. "Fuzzy logic controller design for PUMA 560 robot manipulator." IAES International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 73. http://dx.doi.org/10.11591/ijra.v9i2.pp73-83.

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The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on sim
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Abdel-Salam, Abdel-Azim S., and Ibrahim N. Jleta. "Fuzzy logic controller design for PUMA 560 robot manipulator." International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 73–83. https://doi.org/10.11591/ijra.v9i2.pp73-83.

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The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on sim
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Abdalla, Turki, and Basil Jasim. "Fuzzy-neural network compensator for Robot manipulator controlled by PD-like fuzzy system." Iraqi Journal for Electrical and Electronic Engineering 8, no. 8 (2012): 35–44. http://dx.doi.org/10.37917/ijeee.8.1.4.

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In this paper, high tracking performance control structure for rigid robot manipulator is proposed. PD-like Sugano type fuzzy system is used as a main controller, while fuzzy-neural network (FNN) is used as a compensator for uncertainties by minimizing suitable function. The output of FNN is added to the reference trajectories to modify input error space, so that the system robust to any change in system parameters. The proposed structure is simulated and compared with computed torque controller. The simulation study has showed the validity of our structure, also showed its superiority to comp
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Verma, Varnita, A. Gupta, M. K. Gupta, and P. Chauhan. "Performance estimation of computed torque control for surgical robot application." Journal of Mechanical Engineering and Sciences 14, no. 3 (2020): 7017–28. http://dx.doi.org/10.15282/jmes.14.3.2020.04.0549.

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In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SC
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Santibañez, Victor, and Rafael Kelly. "PD control with feedforward compensation for robot manipulators: analysis and experimentation." Robotica 19, no. 1 (2001): 11–19. http://dx.doi.org/10.1017/s0263574700002848.

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One of the simplest and natural appealing motion control strategies for robot manipulators is the PD control with feedforward compensation. Although successful experimental tests of this control scheme have been published since the beginning of the eighties, the proof of global asymptotic stability has remained unattended until now. The contribution of this paper is to prove that global asymptotic stability can be guaranteed provided that the proportional and derivative gains are adequately selected. The performance of the PD control with feedforward compensation evaluated on a two degrees-of-
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Dissertations / Theses on the topic "PD Computed Torque Control"

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Gullayanon, Rutchanee. "Motion Control of 3 Degree-Of-Freedom Direct-Drive Robot." Thesis, Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/6969.

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Modern motion controllers of robot manipulators require knowledge of the system's dynamics in order to intelligently predict the torque command. The main objective for this thesis is to apply various motion controllers on a parallel direct drive robot in simulations and verify if one can take advantage of the model knowledge to improve performance of controllers. The controllers used in this thesis varied from simple PD control with position and velocity reference only applied independently at each joint to more advanced PD control with full dynamic feedforward term and computed torque contro
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Sankaran, Jayavel. "Real-time computed torque control of flexible-joint robots." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ28868.pdf.

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VALLE, CARLOS MAGNO CATHARINO OLSSON. "COMPUTED-TORQUE CONTROL OF A SIMULATED BIPEDAL ROBOT WITH LOCOMOTION BY REINFORCEMENT LEARNING." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2016. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=27798@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO<br>CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO<br>Esta dissertação apresenta o desenvolvimento de um controle híbrido de um robô do tipo humanoide Atlas em regime de locomoção estática para a frente. Nos experimentos faz-se uso do ambiente de simulação Gazebo, que permite uma modelagem precisa do robô. O sistema desenvolvido é composto pela modelagem da mecânica do robô, incluindo as equações da dinâmica que permitem o controle das juntas por torque computado, e pela determinação das posições que as juntas devem assumir. Isto
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ALHAJ, ALI SOUMA MAHMOUD. "TECHNOLOGIES FOR AUTONOMOUS NAVIGATION IN UNSTRUCTURED OUTDOOR ENVIRONMENTS." University of Cincinnati / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1064404165.

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Oliveira, Israel Gonçalves de. "Comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicados a manipuladores robóticos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/156791.

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Este trabalho apresenta uma comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicadas a manipuladores robóticos. O objetivo no uso desses controladores é para que o manipulador siga referência de trajetória periódica no espaço das juntas. O desenvolvimento e implementação dos controladores são focados no manipulador WAM (Whole Arm Manipulator) da Barrett Technology®Inc. Neste trabalho, também são apresentadas uma formulação do modelo não linear do manipulador e as sínteses dos controladores por torque calculado e repetitivo aplicados ao modelo do manipula
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Machín, Sofía Valentina. "Diseño de un controlador para un vehículo movil." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2017. http://hdl.handle.net/10183/172037.

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El siguiente trabajo busca desarrollar y testear un controlador para un robot móvil con fines agrícolas. Enmarcado en un proyecto más grande, que actualmente desarrolla un prototipo de robot móvil con desplazamiento autónomo para colaborar en las tareas agropecuarias, este trabajo parte de las ecuaciones cinemáticas desarrolladas para este prototipo y desarrolla una estrategia de control mediante torque computado para el desplazamiento autónomo del vehículo en el medio y se realizan simulaciones de las mismas. Realizado este trabajo y obteniendo resultados certeros se deja todo pronto para con
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Nyzen, Robert J. "Analysis and control of an eight degree-of-freedom manipulator." Ohio : Ohio University, 1999. http://www.ohiolink.edu/etd/view.cgi?ohiou1175796367.

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Almeida, Mateus Vagner Guedes de. "Estudo da concepção de um robô paralelo de três graus de liberdade." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/182416.

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O mecanismo 3-RPS é um mecanismo paralelo que possui três graus de liberdade: rolagem, arfagem e elevação. Tem vantagem em relação ao custo em comparação com o manipulador Plataforma de Stewart em aplicações onde não são necessários seis graus de liberdade e, por ser um mecanismo paralelo, possui maior relação peso/capacidade de carga que robôs seriais. No presente trabalho, um estudo é realizado para a concepção de um robô do tipo 3-RPS. O estudo aborda a cinemática, a dinâmica e estratégia de controle para o robô. Um controle por torque computado é aplicado a um modelo virtual em ambiente CA
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Valente, Vitor Tumelero. "Análise, simulação e controle de um sistema de compensação de movimento utilizando um manipulador plataforma de stewart acionado por atuadores hidráulicos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/141138.

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O mecanismo Plataforma de Stewart é um manipulador do tipo paralelo, com seis graus de liberdade, boa relação peso/carga e alta rigidez. Tais características conferem a este tipo de manipulador propriedades superiores de precisão em relação aos manipuladores seriais. Neste trabalho, o controle de um Manipulador Plataforma de Stewart (MPS) acionado por atuadores hidráulicos é estudado com o objetivo de compensação de movimentos para viabilização de transferência de cargas e pessoas em ambiente naval.Visando ao desenvolvimento de um protótipo experimental, o manipulador é estudado considerando a
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Barbeiro, Tácio Luiz de Souza. "Controle de robôs manipuladores subatuados via Síntese-&#956." Universidade de São Paulo, 2001. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-12082016-160927/.

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Este trabalho trata da implementação de uma técnica de controle robusto, Síntese-&#956 em um robô manipulador de três graus de liberdade com juntas passivas. A necessidade de um de controle robusto se deve ao fato de que em uma aplicação real o sistema está sujeito a mudanças nos seus parâmetros internos e a distúrbios externos (ruído dos sensores, etc). Aqui, uma metodologia de controle robusto que combina o método do torque computado e controladores robustos projetados via Síntese-&#956 é proposta e utilizada com êxito. O equacionamento matemático da distância do sistema é apresentado e a li
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Books on the topic "PD Computed Torque Control"

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Sankaran, Jayavel. Real-time computed torque control of flexible-joint robots. National Library of Canada = Bibliothèque nationale du Canada, 1999.

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Shchuka, Andrew Joseph. Tip control of a flexible manipulator using the computed torque technique. 1987.

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Book chapters on the topic "PD Computed Torque Control"

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Caccavale, Fabrizio. "Computed-Torque Control." In Encyclopedia of Robotics. Springer Berlin Heidelberg, 2020. http://dx.doi.org/10.1007/978-3-642-41610-1_91-1.

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Chen, Chao, Wesley Au, and Shao Liu. "Computed Torque Control." In Robotics. CRC Press, 2025. https://doi.org/10.1201/9781003614319-14.

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Wu, Guanglei. "PD Based Torque Control." In Parallel PnP Robots. Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-96-0443-2_4.

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Teshnehlab, Mohammad, and Keigo Watanabe. "Self-Tuning Computed Torque Control: Part I." In Intelligent Control Based on Flexible Neural Networks. Springer Netherlands, 1999. http://dx.doi.org/10.1007/978-94-015-9187-4_5.

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Teshnehlab, Mohammad, and Keigo Watanabe. "Self-Tuning Computed Torque Control: Part II." In Intelligent Control Based on Flexible Neural Networks. Springer Netherlands, 1999. http://dx.doi.org/10.1007/978-94-015-9187-4_6.

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Kumar, Manish, Ashish Gupta, and Neelu Nagpal. "Tracking Control of Robot Using Intelligent-Computed Torque Control." In Advances in Intelligent Systems and Computing. Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-13-1822-1_58.

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An, C. H., C. G. Atkeson, J. D. Griffiths, and J. M. Hollerbach. "Experimental Evaluation of Feedforward and Computed Torque Control." In RoManSy 6. Springer US, 1987. http://dx.doi.org/10.1007/978-1-4684-6915-8_50.

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Jribi, Racem, Boutheina Maalej, and Nabil Derbel. "Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation." In New Trends in Robot Control. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-1819-5_7.

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Djelal, Nacereddine, Isma Boudouane, Nadia Saadia, and Amar Ramdane-Cherif. "Robot Control by Computed Torque Based on Support Vector Regression." In Lecture Notes in Computer Science. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-41009-8_48.

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Koessler, A., N. Bouton, S. Briot, B. C. Bouzgarrou, and Y. Mezouar. "Linear Adaptive Computed Torque Control for Singularity Crossing of Parallel Robots." In ROMANSY 22 – Robot Design, Dynamics and Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_29.

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Conference papers on the topic "PD Computed Torque Control"

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Aguedach, Assia, Vincent Chalvet, and Lahouari Benabou. "Model-Based Design Approach for Cartesian Robot Using Computed Torque Control." In 2024 9th International Conference on Mechatronics Engineering (ICOM). IEEE, 2024. http://dx.doi.org/10.1109/icom61675.2024.10652556.

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Kova´cs, La´szlo´ L., Jo´zsef Ko¨vecses, Ambrus Zelei, La´szlo´ Bencsik, and Ga´bor Ste´pan. "Servo-Constraint Based Computed Torque Control of Underactuated Mechanical Systems." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48533.

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This paper aims to generalize the computed torque control method for underactuated systems which are modeled by a non-minimum set of generalized coordinates subjected to geometric constraints. The control task of the underactuated robot is defined in the form of servo constraint equations that have the same number as the number of independent control inputs. A PD controller is synthesized based on projecting the equations of motion into the nullspace of the distribution matrix of the actuator forces/torques. The results are demonstrated by numerical simulation and experiments conducted on a tw
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Zelei, Ambrus, La´szlo´ L. Kova´cs, and Ga´bor Ste´pa´n. "Computed Torque Control Method for Under-Actuated Manipulator." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86409.

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The paper presents the dynamic analysis of a crane-like manipulator system equipped with complementary cables and ducted fan actuators. The investigated under-actuated mechanical system is described by a system of differential-algebraic equations. The position/orientation control problem is investigated with respect to the trajectory generation and the fine positioning of the payload. The closed form results include the desired actuator forces as well as the nominal load angle corresponding to the desired motion of the payload. Considering a PD controller, numerical simulation results and also
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Tang, Xiaoteng, and Li Chen. "Compensating Learning Control for Free-Floating Space Robot System With Dual-Arms Using Genetic Algorithm in Joints Space." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86400.

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In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for the space robot is derived using the PD type computed torque method. A new learning control method using real coded genetic algorithm is presented to control the system and its controller structure is designed. A compensating learning control item is added to the error equation to approach the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the
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Al Ashi, Mahmoud M., Hatem Elaydi, and Iyad Abu Hadrous. "Modelica Based Object-Oriented Modeling and PD-Computed Torque Control of a 2-DOF Robotic Arm." In 2018 International Conference on Promising Electronic Technologies (ICPET). IEEE, 2018. http://dx.doi.org/10.1109/icpet.2018.00009.

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Rastogi, Eshita, and Lal Bahadur Prasad. "Comparative performance analysis of PD/PID computed torque control, filtered error approximation based control and NN control for a robot manipulator." In 2015 IEEE UP Section Conference on Electrical Computer and Electronics (UPCON). IEEE, 2015. http://dx.doi.org/10.1109/upcon.2015.7456706.

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Mu¨ller, Andreas. "Uncertainty Problems in Model-Based Control of Redundantly Actuated Parallel Manipulators." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49113.

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The inverse dynamics and control of redundantly actuated PKM in the presence of uncertainties is the focus of this paper. Actuation redundancy allows for a purposeful distribution of control forces, taking into account secondary tasks, such optimal force distribution, active stiffness, and backlash avoiding control. A closed form solution of the inverse dynamics problem for simply redundantly actuated PKM is given. The applicability of the augmented PD and computed torque control schemes is analyzed. It is shown that, in the presence of model uncertainties, adopting the standard control scheme
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Abbas, H., S. M. Hashemi, and H. Werner. "Decentralized LPV Gain-Scheduled PD Control of a Robotic Manipulator." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2651.

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In this paper, low-complexity linear parameter-varying (LPV) modeling and control of a two-degrees-of-freedom robotic manipulator is considered. A quasi-LPV model is derived and simplified in order to facilitate LPV controller synthesis. An LPV gain-scheduled, decentralized PD controller in linear fractional transformation form is designed, using mixed sensitivity loop shaping to take — in addition to high tracking performance — noise and disturbance rejection into account, which are not considered in model-based inverse dynamics or computed torque control schemes. The controller design is bas
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Ouyang, P. R., W. J. Zhang, and Madan M. Gupta. "An Adaptive Evolutionary Switching Control for Robot Manipulators." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84333.

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In this paper, a new adaptive switching control approach, called adaptive evolutionary switching PD control (AES-PD), is proposed for iterative operations of robot manipulators. The proposed AES-PD control method is a combination of the feedback of PD control with gain switching and feedforward using the input torque profile obtained from the previous iteration. The asymptotic convergence of the AES-PD control method is theoretically proved using Lyapunov’s method. The philosophy of the switching control strategy is interpreted in the context of the iteration domain to increase the speed of th
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Santiago, Jorge Luis Leyva, Perez Rios, David Arrustico, and Lina Cortez. "Volitional PD computed torque control design of a 2-DOF finger model for cylindrical grip movement assistance with sEMG signal classification." In 2021 IEEE Engineering International Research Conference (EIRCON). IEEE, 2021. http://dx.doi.org/10.1109/eircon52903.2021.9613706.

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